DynaBgThread.cxx File Reference

Dynamixel background thread class. More...

#include <sys/time.h>
#include <time.h>
#include <limits.h>
#include <stdio.h>
#include <pthread.h>
#include <unistd.h>
#include <iostream>
#include <map>
#include "rnr/rnrconfig.h"
#include "rnr/log.h"
#include "rnr/new.h"
#include "rnr/units.h"
#include "Dynamixel/Dynamixel.h"
#include "Dynamixel/MX.h"
#include "Dynamixel/DynaError.h"
#include "Dynamixel/DynaComm.h"
#include "Dynamixel/DynaServo.h"
#include "Dynamixel/DynaChain.h"
#include "Dynamixel/DynaBgThread.h"
#include "Dynamixel/DynaOlio.h"
#include "DynaLibInternal.h"

Go to the source code of this file.

Macros
#define	BG_TRACE(mask, servoid, prefix, fmt, ...)
	No tracing output.
#define	BG_TRACE_OPEN()
	No tracing file open.
#define	BG_TRACE_CLOSE()
	No tracing file close.

Functions
static long	dt_usec (struct timeval t1, struct timeval t0)
	Calculate the difference between two time-of-day times. More...

Detailed Description

Dynamixel background thread class.

LastChangedDate

2015-07-08 12:19:29 -0600 (Wed, 08 Jul 2015)

Rev

4024

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2011-2018. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file DynaBgThread.cxx.

Function Documentation

static long dt_usec ( struct timeval  t1, struct timeval  t0  )

static

Calculate the difference between two time-of-day times.

Parameters

t1	Later time instance.
t0	Earlier time instance.

Returns

Microsecond difference.

Definition at line 169 of file DynaBgThread.cxx.

Referenced by DynaBgThread::sched().

{
  long  dt;

  if( t1.tv_usec >= t0.tv_usec)
  {
    dt = (t1.tv_sec - t0.tv_sec) * 1000000 + (t1.tv_usec - t0.tv_usec);
  }
  else
  {
    dt = (t1.tv_sec - t0.tv_sec - 1) * 1000000 + 
      (1000000 + t1.tv_usec - t0.tv_usec);
  }

  return dt;
}